Rotation¶
Summary¶
3D rotation parameterized by axis-angle.
Methods¶
axis_angle¶
Signature: axis_angle() -> list[float]
Return axis-angle vector.
inv¶
Signature: inv() -> Rotation
Return inverse rotation.
matrix¶
Signature: matrix() -> Matrix3d
Return 3x3 rotation matrix.
quaternion¶
Signature: quaternion() -> list[float]
Return quaternion [w, x, y, z].
set_axis_angle¶
Signature: set_axis_angle(rx: float, ry: float, rz: float) -> None
Set axis-angle components.
to_string¶
Signature: to_string() -> str
Return human-readable representation.
Properties¶
rx¶
Type: float
ry¶
Type: float
rz¶
Type: float